Heavy-Duty Wheeled Vehicles: Design, Theory, Calculations

Lorry Convoy Stability Taking Into Account the Skew of Semitrailer Axes

“…Considering the dynamics of a lorry convoy and taking into account the angles of axle alignment, the basic factor determining the stability of rectilinear motion is a course rate of movement of a lorry convoy. The following situations are typical: (12) and (13) are possible to write down as the functions of the rate of movement of a lorry convoy: vv  that can be received from the equations (14). However, their reduction to the obvious type in connection with a large dimension and the number of incoming parameters is, in a general case, an insoluble problem and does not allow for the use of purely analytical methods of research.…”

“…The system of equations of the motion of a lorry convoy presumes the solution u 1 [14,15], the motion of all points of a lorry convoy coincides with this solution at a speed v along the line  = const on the planes of a road. We will take such motion as unperturbed.…”

“…As far as obvious expressions of equation solutions (14) are not present, to find the dependencies ) ( vf  we will use the interval method that allows us to calculate any dependencies of the non-obvious kind.…”

“…As crit v and 0 v are the functions of the parameters of a lorry convoy, in space of these parameters of the equations crit v v  and 0 vv  determine the hypersurfaces on which the characteristic equation ( 9) has one zero and a pair of complex roots. The first expressions of equations ( 12) and ( 13) are possible to write down as the functions of the rate of movement of a lorry convoy: vv  that can be received from the equations (14). However, their reduction to the obvious type in connection with a large dimension and the number of incoming parameters is, in a general case, an insoluble problem and does not allow for the use of purely analytical methods of research.…”

“…To get the indicated dependencies is possible by means of numerical methods of computer design. As far as obvious expressions of equation solutions (14) are not present, to find the dependencies ) (  respectively, we have:…”